相关论文: A self-healing tactile sensor using an optical wav…
We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10…
In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the requirements for more skilful manipulation, there should be…
This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…
Soft robotics is an emerging field that yields promising results for tasks that require safe and robust interactions with the environment or with humans, such as grasping, manipulation, and human-robot interaction. Soft robots rely on…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Tactile sensing has proven to be an invaluable tool for enhancing robotic perception, particularly in scenarios where visual data is limited or unavailable. However, traditional methods for pose estimation using tactile data often rely on…
Due to the complexity of modeling the elastic properties of materials, the use of machine learning algorithms is continuously increasing for tactile sensing applications. Recent advances in deep neural networks applied to computer vision…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
Tactile displays that lend tangible form to digital content could transform computing interactions. However, achieving the resolution, speed, and dynamic range needed for perceptual fidelity remains challenging. We present a tactile display…
Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…
GelSight family of vision-based tactile sensors has proven to be effective for multiple robot perception and manipulation tasks. These sensors are based on an internal optical system and an embedded camera to capture the deformation of the…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
A monolithic integrated tactile sensor array is presented, which is used to perform non-invasive blood pressure monitoring of a patient. The advantage of this device compared to a hand cuff based approach is the capability of recording…
We study the problem of object retrieval in scenarios where visual sensing is absent, object shapes are unknown beforehand and objects can move freely, like grabbing objects out of a drawer. Successful solutions require localizing free…
Spiders use their webs as multifunctional tools that enable capturing and localizing prey and more general environmental sensing through vibrations. Inspired by their biological function, we present a spider web-inspired optical waveguide…
Past research has widely explored the design and fabrication of resistive matrix-based tactile sensors as a means of creating touch-sensitive devices. However, developing portable, adaptive, and long-lasting tactile sensing systems that…
The current methods of assessing tendon health such as clinical examination, imaging techniques, and implanted pressure sensors, are often based on a subjective assessment or are not accurate enough, are extremely expensive, or are limited…
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…
Simulation is widely used in robotics for system verification and large-scale data collection. However, simulating sensors, including tactile sensors, has been a long-standing challenge. In this paper, we propose Taxim, a realistic and…
We propose the next evolution of the artificial sense of touch, including an in-depth examination of the latest advancements in tactile sensing technology and the challenges that remain. We delve into the forefront of DNA and nanomaterials…